CN105571904B - The automatic sampler of water quality sampling unmanned plane - Google Patents
The automatic sampler of water quality sampling unmanned plane Download PDFInfo
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- CN105571904B CN105571904B CN201610127943.XA CN201610127943A CN105571904B CN 105571904 B CN105571904 B CN 105571904B CN 201610127943 A CN201610127943 A CN 201610127943A CN 105571904 B CN105571904 B CN 105571904B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
- G01N2001/1445—Overpressure, pressurisation at sampling point
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Abstract
The automatic sampler of water quality sampling unmanned plane, including main body rack, fixed high sensor, water sample acquisition device, lifting device, divide sampling device, sample storage device and control circuit board.Wherein, water sample acquisition device includes immersible pump, pressure liquid level sensor, flexible water conduit, flow sensor, can complete sampling at set depth；Lifting device include servo motor, magnetic coder, reduction gearing, slip ring, bearing, close to switch, telescopic rod, ceramics eye part, it can be achieved that sampling apparatus draw-in and draw-off function；Sample storage device is made of three layers of detachable plastic bottle.The present invention can effectively mitigate the weight of automatic sampler, improve the performance of entire water quality sampling unmanned plane；Increase pressure liquid level sensor realization sampling at set depth by lifting device and in sample tap simultaneously, and pack up sampling apparatus in unmanned plane during flying process, improves the safety during unmanned plane during flying.
Description
Technical field
The present invention relates to the technical field of water quality sampling equipment, the one kind for being related specifically to water quality sampling unmanned plane is automatic
Sampler.
Background technique
With China's expanding economy, water resource pollution situation is increasingly severe, and the prevention and treatment and protection of water resource are also more next
It is more taken seriously, how efficiently to obtain the premise that water quality information is water prevention and cure of pollution, water quality sampling is then to obtain water quality information
Key link.Water quality sampling is carried out using unmanned plane, the mode sampled relative to traditional artificial sample and automatically not only has
High-efficient, the advantages that personnel safety is high, and the place sampling reached can be difficult in complex environment or people's ship.Due to revolving more
Wing unmanned air vehicle technique is mature on the whole, and realizes that the key of water quality sampling unmanned plane is that water quality of the carry on unmanned plane samples automatically
Device mitigates the weight of itself as far as possible while realizing function, improves the working time of water quality sampling unmanned plane；In order to guarantee to adopt
The water intaking component of the safety of sample unmanned plane, automatic sampling apparatus should have elevating function.
In Chinese utility model/application for a patent for invention application No. is 201420430386.5, in water intaking component water suction
The end of pipe needs to increase additional weight and guarantees that suction hose can sink to the water surface hereinafter, increasing the weight of entire sampling apparatus
Amount；Although entirely sampling unmanned plane is equipped with surely high sensor, it is capable of measuring height of the unmanned plane apart from the water surface, is not measured
The decentralization length of suction hose can not know the depth of sampling water quality and determine the function of depth-sampling；In addition, since it is not designed
The closed tube device of suction hose, after the completion of sampling, suction hose cannot be packed up, and can bring biggish safety hidden to unmanned plane during flying
Suffer from, to not can be carried out over the horizon sampling.
Therefore, the present invention for water quality sampling unmanned plane automatic sampler weight, can not sampling at set depth and suction hose
The problems such as accurate folding and unfolding, is applied to the automatic sampler of sampling unmanned plane using immersible pump and adaptive negative feedback control for the first time,
Lighter weight, sampling at set depth and the accurate folding and unfolding of suction hose are made it have, the overall performance of water quality sampling unmanned plane, application are improved
More extensively.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of automatic samplings for answering water quality sampling unmanned plane
Device can reduce the weight of airborne water-quality sampler, carries out sampling at set depth and improve the safety of unmanned plane carrier aircraft.Water quality can be made to adopt
Sample unmanned plane performance is more excellent, and adaptation range is wider, and safety is higher, and over the horizon sampling may be implemented.
To achieve the above object, the invention adopts the following technical scheme:
A kind of automatic sampler of water quality sampling unmanned plane,
Including main body rack, control circuit board, water sample acquisition device, lifting device and sample storage device；
Reduction gearing secondary part in the lifting device is connected by bearing with main body rack；Reduction gearing follower
Divide driving sample storage device rotation；
The water sample acquisition device includes immersible pump, pressure liquid level sensor and hose, wherein immersible pump and pressure liquid level
Sensor is installed together, and can be known that immersible pump is in liquid level depth below in real time, be realized sampling at set depth；It is passed for water sample
Defeated hose one end is connected with the water outlet of immersible pump, and the middle section of hose is wrapped in the outer wall of sample storage device.
Further include a point sampling device, divides injection port and the hose connection of sampling device, divide the multiple outlets of sampling device respectively and sample
The injection port of each layer of product storage device connects, and realizes the different layers of water sample storage to sample storage device.
Sample storage device includes multilayer detachable plastic bottle, each layer and it is one layer upper between be connected by screw thread.
When rotating sample storage, under the gravity of immersible pump, immersible pump can decline automatically, and simultaneous retractable bar can synchronize
It shrinks, realizes water sample acquisition device decentralization；When reversely rotating sample storage, hose can be twined in the outer wall of sample storage device
Around the elongation that simultaneous retractable bar can synchronize realizes collecting for water sample acquisition device.
Sampling device is divided to be fixedly connected with reduction gearing secondary part；Sample storage device with divide sampling device and be fixedly connected；It watches
It takes motor and drives the rotation of reduction gearing driving wheel, reduction gearing driving wheel drives the rotation of reduction gearing secondary part, and then drives
Divide sampling device and the rotation of sample storage device.
The lifting device further includes telescopic rod, and hose passes through the end circular hole of telescopic rod telescopic section.
The injection port of sampling device is divided to connect with hose one end by flow sensor.
In being equipped on one side close to switch for telescopic rod circular hole, when the close switch of immersible pump, output zero is believed
Number give control circuit board controller.
Control circuit board to the fixed high sensor of automatic sampler, water sample acquisition device, lifting device, divide sampling device, sample
Product storage device is controlled and is sampled, and receives the control signal that UAV system sends over, and it is high to complete unmanned plane hovering
The control of degree, immersible pump sampling depth, sampling flow, sample volume and/or storage location.
A method of unmanned plane water sampling is carried out using automatic sampler, characterized by the following steps:
System self-test, self-test collects immersible pump after passing through, and is sent to unmanned plane system into clean state, and by self-detection result
System；
Set sample point coordinate position, the flight path of water quality sampling unmanned plane, sampling depth and sampling water amount parameters；
Unmanned plane flies according to track to the position of sampled point, and is hovered over by the elevation information that automatic sampler is fed back
Place apart from liquid level certain altitude；
Automatic sampler transfers immersible pump, and real-time basis according to hovering height, sampling depth state modulator lifting device
Pressure liquid level sensor detects the depth of immersible pump, and after the depth of immersible pump meets sampling request, stopping issues immersible pump；
Position of the sample in sample storage device is determined according to the parameter of sampling water, is opened after the completion to immersible pump energization
Begin to sample；
In sampling process, sampling flow control is carried out according to the flow of flow sensor feedback, is adopted according to flow rate calculation
Collecting water from runoff stops sampling, immersible pump is collected, into clean state after acquisition water is met the requirements；
Next sampling point sampling is carried out according to control instruction at this time or is maked a return voyage.
A kind of automatic sampling apparatus of water quality sampling unmanned plane includes main body rack, fixed high sensor, pressure liquid level sensing
Device, lifting device, divides sampling device, sample storage device and control circuit board at water sample acquisition device；Wherein determine high sensor, adopt
Sample camera, lifting device, divides sampling device, sample storage device and circuit board to be installed in main body rack at water sample acquisition device
On, main body rack is installed on unmanned aerial vehicle body by interface, in order to guarantee sample unmanned plane it is efficient, whole system need into
Row is rationally placed, and guarantees the center of gravity of sampling system in unmanned plane allowed band；Control circuit board is responsible for water sampling, lifting dress
Set, the real-time control of division box, and be responsible for fixed high sensor, pressure liquid level sensor data acquisition and with unmanned plane control
The communication of system processed.
The water sample acquisition device includes immersible pump, pressure liquid level sensor, flexible water conduit, flow sensor, wherein diving
Water pump and pressure liquid level sensor are installed together, and can know that immersible pump is in liquid level depth below in real time, and then can be with
Complete sampling at set depth；Immersible pump is the power part of water quality sampling, can eliminate water flow buoyancy to sampling by the weight of itself
Caused by influence.Immersible pump is connected with flexible water conduit one end, intermediate water pipe can by lifting device carry out folding and unfolding, other end with
Flow sensor connection, flow sensor are connected with division box again, and water sample is assigned to sample storage device by division box
Different vessels.
The lifting device have supporting structure, servo motor, magnetic coder, reduction gearing, slip ring, bearing, close to switch,
Telescopic rod, ceramic eye part.Servo motor end is equipped with magnetic coder, divides sampling device, sample to store up by reduction gearing driving
Cryopreservation device rotation passes through rotation (seen from above) clockwise using the matrix that the outer wall of sample storage device is wound as flexible water conduit
Sample transfer product storage device, flexible water conduit are gradually wound in the outer wall of sample storage device, realize collecting for water sample acquisition device.It is soft
Property water pipe by the end round mouth of telescopic rod, round mouth inner wall applies ceramic eye, reduces the friction and wear to hose；In round mouth
Right side is equipped with close to switch, is collected as water sample acquisition device and is fed back in place；Lifting device passes through bearing and slip ring and sampling cartridge
It sets connected.
Described point of sampling device includes injection port, a triple valve, a four-way valve and five pinch valves, and there are three samples out
Mouthful, water sample is assigned to the different holding bottles of sample storage device by water pipe, sampling device top is divided to connect with lifting device, under
Portion is connect with sample storage device.Sampling device is divided to realize water sample distribution by the different switch states of pinch valve.
The sample storage device is made of three layers of detachable plastic bottle, and every layer of plastic bottle has injection port and outlet,
Outlet routine sampling plug, each layer and it is one layer upper between be connected by screw thread, can according to the number of sampled point and
The number of plies of the flexible in size selection sample storage device of sampling quantity.After the completion of acquisition, sample storage device can be removed to direct guarantor
It deposits, and replaces other sample storage device.Sample storage device by screw thread with divide sampling device to connect.
Control circuit board includes 32-bit microprocessor, servo motor drive module, encoder interfaces, telescopic rod driving mould
Block, fluid flowmeter interface, pressure liquid level sensor interface, ultrasonic wave determine high sensor interface, immersible pump control interface, clamp
Valve control interface and camera power supply control interface；It is power interface and communication interface, electricity between control circuit board and unmanned plane
Source interface is the power input of entire automatic sampler, and communication interface is responsible for the sampling instruction of satellite receiver transmission, and in real time
Feed back the data such as the state of automatic sampler, height, the sampler depth of water of fixed high sensor.
The invention has the benefit that not only effectively being alleviated entire by immersible pump as the power device sampled
The weight of automatic sampling apparatus improves the performance of entire water quality sampling unmanned plane；Simultaneously by lifting device and in sample tap
Increase pressure liquid level sensor, can know the depth of thief hatch in real time, and thief hatch is adjusted by lifting device real-time negative feedback
Depth, and then realize sampling at set depth；And by lifting device, the lifting of water sample acquisition device can be flexibly realized, at nobody
Water sample acquisition device is packed up in machine flight course, improves the safety of unmanned plane during flying process.In addition, using being flexibly layered
Sample storage device, the number of plies that can be stored according to sample requirement flexible choice sample, improves the performance of entire sampling apparatus.By
The realization of above-mentioned function, water quality sampling unmanned plane have widely application, it can be achieved that over the horizon samples automatically.
Inventive point of the present invention also resides in: goed deep into water using immersible pump as most terminal, since diving pump lift is bigger,
It is not high to the height limitation of the unmanned plane hovering water surface；And immersible pump own wt can be used as the weight that sampling head sinks in water,
It does not need additionally to increase the sinking of quality assurance sampling head, to reduce the weight of entire unmanned plane sampled load；Meanwhile with it is general
Tubulose or box-packed sampling apparatus are compared, and immersible pump pumping hole is easy to increase filter device.
Inventive point of the present invention also resides in: being used cooperatively in immersible pump and pressure sensor, can know the water quality of acquisition in real time
The depth of sample, depth information are parameter important in water sample；Controllable sampling at set depth can be achieved, when sampling head reaches
To after the depth of water of sampling request, starting to sample.
Inventive point of the present invention also resides in: by the way of soft tube winding, can effectively store hose, solve over the horizon unmanned plane
The safety problem of flight, while solving the problems, such as that sampling head landing is contaminated when landing.Cooperate liquid distributing device and device for storing liquid rotation
The decentralization for turning realization hose, solves the problems, such as that sampling head depth is stable in sampling at set depth.And it is revolved with liquid distributing device and device for storing liquid
The matrix for soft tube winding is transferred to, does not need to increase matrix of the additional structure as soft tube winding, alleviates the weight of load；
And the outer diameter of device for storing liquid is proper as winding hose；Since hose needs to wind, device for storing liquid rotation in addition
One end is connected, and rotation keeps connected interface relatively simple for structure together.And hose uniform winding can be solved in liquid storage using telescopic rod
The problem of pipe.
Detailed description of the invention
Below according to attached drawing, invention is further described in detail.
Fig. 1 is the automatic sampler for the water quality sampling unmanned plane that present invention implementation provides.
Wherein, 1 is immersible pump, and 2 be pressure liquid level sensor, and 3 be telescopic rod telescopable portion, and 4 be sampling hose, and 5 are
Telescopic rod end circular hole, 6 for close to switch, 7 be sample storage device third layer, 8 be every layer of sample storage device outlet, 9
It is the hose divided between sampling device and sample storage device for the sample storage device second layer, 10,11 is every for sample storage device
The import of layer, 12 is divide sampling device, and 13 be flow sensor, and 14 be reduction gearing driven wheel, and 15 be telescopic rod fixed part, and 16
It is magnetic coder for slip ring, 17,18 be servo motor, and 19 be reduction gearing driving wheel, and 20 determine high sensor for ultrasonic wave, and 21 are
Control circuit board and main body rack, 22 be multi-rotor unmanned aerial vehicle, and 23 be sampling camera.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing.
As shown in Figure 1, the present invention includes main body rack and control circuit board 21, fixed high sensor 20, pressure liquid level sensing
Device 2, lifting device, divides sampling device 12, sample storage device and sampling camera 23 at water sample acquisition device.Wherein, fixed high sensing
Device 20, sampling camera 23 and lifting device according to the part rotated in main body rack, lifting device divide sampling device 12,
Reduction gearing secondary part 14, sample storage device are connected by slip ring and bearing 16 with main body rack, and slip ring mainly solves
Control and communication between control circuit board 21 and lifting device divide sampling device 12 to pass through fastener and reduction gearing secondary part
14 is fixed, and sample storage device is by screw thread and divides sampling device 12 fixed；Servo motor 18 and telescopic rod 15 in lifting device
It is connected by fastener with main body rack；Magnetic coder 17 is mounted on the tail portion of servo motor 18, outside shell and servo motor
Shell is fixed, and the shaft connection of rotating hole and motor, servo motor output shaft is fixedly connected with reduction gearing driving wheel 19；Reducing gear
Wheel driving wheel 19 is coupled by gear coupling with reduction gearing secondary part 14, drives reduction gearing driving wheel 19 in servo motor
Rotation, reduction gearing driving wheel 19 drive reduction gearing secondary part 14 to rotate, and then drive and sampling device 12 and sample is divided to store
Device rotation.The injection port and flow sensor 13 of point sampling device 12 directly couple, three of them outlet pass through respectively hose with
Three layers of injection port of sample storage device connects, internal to control sample by a threeway, a four-way and five pinch valves
The flow direction of product, and then can control sample storage in a certain layer of sample storage device.
4 one end of hose of water sample acquisition device is connected with the sample introduction end of flow sensor 13, other end and immersible pump 1
Water outlet connection, middle section is wrapped in the outer wall of water sample storage device, and passes through the end circular hole 5 of telescopic rod telescopic section 3,
Equipped with ceramic eye among end circular hole 5, the frictional force and friction to hose are reduced.Since water sample sampling device end is using diving
Pump 1, the quality of itself can allow its hose to have certain downward pulling force, when update device rotates (seen from above) counterclockwise
When, under the gravity of immersible pump 1, immersible pump 1 can decline automatically, the contraction that simultaneous retractable bar can synchronize, and realize under sampling apparatus
It puts；When lifting device rotates clockwise (seen from above), water pipe can be wound in the outer wall of water sample storage device, due to hose
Overall length it is certain, winding it is more, the hose length from telescopic rod circular hole 5 to immersible pump 1 is shorter, and immersible pump 1 moves upwards,
The elongation that simultaneous retractable bar can synchronize realizes collecting for sampling apparatus；In being equipped on one side close to switch for telescopic rod circular hole 5
6, when immersible pump is close to close to rz signal when switching, is exported, to the controller of control circuit board, this state is sampling apparatus
Clean state.Automatic sampling apparatus also enters after the completion of each water sampling and returns after powering automatically into clean state
Nought state.
Pressure liquid level sensor 2 is mounted with simultaneously in the end of immersible pump 1, mainly feeds back immersible pump 1 to control circuit board
Locating depth at present, control circuit board dynamically adjusts lifting device based on the feedback signal, if 1 depth of immersible pump is inadequate, lifting
Device transfers immersible pump；If 1 depth of immersible pump has been more than setting value, lifting device will collect immersible pump, keep immersible pump basic
In the following constant depth of liquid level, to realize sampling at set depth.
Divide sampling device 12 by an injection port, a triple valve, a four-way valve, five pinch valves and three outlet groups
Be controlled the control of circuit board 21 at, five pinch valves, by control different pinch valves open and close it is achievable by water sample
It is discharged, and then is realized the different layers of water sample storage to sample storage device from different outlets.Sample storage device is by three
Layer detachable plastic bottle composition, every layer of plastic bottle have injection port and outlet, outlet routine sampling plug, each layer
And be connected between upper one layer by screw thread, it can be according to the number of sampled point and the flexible in size selection sample storage dress of sampling quantity
The number of plies set.After the completion of acquisition, sample storage device can be removed to direct preservation, and replace other sample storage device.Sample
Product storage device by screw thread with divide sampling device to connect.In sampling process, it can be determined according to the size requirement of water quality sampling amount
Water sample is also filled with multilayer full of one layer.
Control circuit board 21 in this system fixed high sensor 20, water sample acquisition device, lifting device, divide sampling device
12, sample storage device is controlled and is sampled, and receives the control signal that UAV system sends over, and it is outstanding to complete unmanned plane
Stop the control such as height, immersible pump sampling depth, sampling flow, sample volume, storage location, and these information are anti-in real time
It feeds UAV system, UAV system is transferred to earth station by data radio station, so that earth station staff grasps in real time
Sample progress.Meanwhile earth station staff can be by sampling the entire sampling process of camera real-time monitoring.In water sample
After the completion of sampling, automatic sampler can collect immersible pump automatically, into clean state, until reaching next sampled point.
The operation principle of the present invention is that:
After automatic sampler powers on, to surely high sensor 21, water sample acquisition device, lifting device, divides sampling device etc. and carry out
Self-test, self-test collects immersible pump after passing through, and is sent to UAV system into clean state, and by self-detection result.Ground staff
After confirming that drone status and automatic sampler state are normal, the flight of sample point coordinate position, water quality sampling unmanned plane is set
The parameters such as track, sampling depth, sampling water.Water quality sampling unmanned plane flies according to track to the position of sampled point, and passes through
The elevation information of automatic sampler feedback hovers over the place apart from liquid level certain altitude；It is adopted automatically after unmanned plane position is stable
The transmission of sample device starts sampling instruction, and automatic sampler is transferred latent according to state modulators lifting devices such as hovering height, sampling depths
Water pump 1, and the depth of immersible pump 1 is detected according to pressure liquid level sensor 2 in real time, when the depth of immersible pump 1 meets sampling request
Afterwards, stop issuing immersible pump 1；The switch state for dividing the pinch valve in sampling device 12 according to the parameter adjustment of sampling water, determines
The number of plies that sample stores in sample storage device starts to sample to the energization of immersible pump 1 after the completion；In sampling process, according to
The flow that flow sensor 13 is fed back carries out sampling flow control, guarantees sampling flow in reasonable range, and according to flow
Acquisition water is calculated, after acquisition water is met the requirements, stops sampling, immersible pump 1 is collected, into clean state；Basis at this time
Control instruction carries out next sampling point sampling or makes a return voyage.
Claims (8)
1. a kind of automatic sampler of water quality sampling unmanned plane, it is characterised in that:
Including main body rack, control circuit board, water sample acquisition device, lifting device and sample storage device；
Reduction gearing secondary part in the lifting device is connected by bearing with main body rack；Reduction gearing secondary part drives
Dynamic sample storage device rotation；
The water sample acquisition device includes immersible pump, liquid level sensor and hose, and wherein immersible pump and liquid level sensor are mounted on
Together, it can know that immersible pump is in liquid level depth below in real time, realize sampling at set depth；Hose one end for water sample transmission
It is connected with the water outlet of immersible pump, the middle section of hose is wrapped in the outer wall of sample storage device；
The lifting device further includes telescopic rod, and hose passes through the end circular hole of telescopic rod telescopic section, when rotation sample storage
When device, under the gravity of immersible pump, immersible pump can decline automatically, the contraction that simultaneous retractable bar can synchronize, and realize water sampling
Device decentralization；When reversely rotating sample storage device, hose can be wound in the outer wall of sample storage device, simultaneous retractable bar meeting
Synchronous elongation realizes collecting for water sample acquisition device.
2. a kind of automatic sampler as described in claim 1, it is characterised in that: further include a point sampling device, divide sampling device into
Sample mouth and water sample acquisition device connection, divide the multiple outlets of sampling device to connect respectively with the injection port of each layer of sample storage device
It connects, realizes the different layers of water sample storage to sample storage device.
3. a kind of automatic sampler as described in claims 1 or 2 any one, it is characterised in that: sample storage device includes
Multilayer detachable plastic bottle, each layer and it is one layer upper between by screw thread be connected.
4. a kind of automatic sampler as claimed in claim 2, it is characterised in that: divide sampling device and reduction gearing secondary part solid
Fixed connection；Sample storage device with divide sampling device and be fixedly connected；Servo motor drives the rotation of reduction gearing driving wheel, reduction gearing
Driving wheel drives the rotation of reduction gearing secondary part, and then drives and sampling device and sample storage device is divided to rotate.
5. a kind of automatic sampler as claimed in claim 2, it is characterised in that: divide the injection port of sampling device and hose one end logical
The connection of overcurrent quantity sensor.
6. a kind of automatic sampler as described in claim 1-2,4-5 any one, it is characterised in that: in telescopic rod circular hole
It is equipped on one side close to switch, when the close switch of immersible pump, exports rz signal to the controller of control circuit board.
7. a kind of automatic sampler as described in claim 1-2,4-5 any one, it is characterised in that: control circuit board is to certainly
The fixed high sensor of dynamic sampler, lifting device, divides sampling device, sample storage device to be controlled and adopted at water sample acquisition device
Sample, and the control signal that UAV system sends over is received, complete unmanned plane hovering height, immersible pump sampling depth, sampling
The control of flow, sample volume and/or storage location.
8. a kind of method that the automatic sampler using as described in claim 1-7 any one carries out unmanned plane water sampling,
It is characterized by comprising following steps:
System self-test, self-test collects immersible pump after passing through, and is sent to UAV system into clean state, and by self-detection result；
Set sample point coordinate position, the flight path of water quality sampling unmanned plane, sampling depth and sampling water amount parameters；
Unmanned plane flies according to track to the position of sampled point, and hovers over distance by the elevation information that automatic sampler is fed back
The place of liquid level certain altitude；
Automatic sampler transfers immersible pump according to hovering height, sampling depth state modulator lifting device, and in real time according to pressure
Liquid level sensor detects the depth of immersible pump, and after the depth of immersible pump meets sampling request, stopping issues immersible pump；
Position of the sample in sample storage device is determined according to the parameter of sampling water, starts to adopt to immersible pump energization after the completion
Sample；
In sampling process, sampling flow control is carried out according to the flow of flow sensor feedback, water is acquired according to flow rate calculation
Amount stops sampling, immersible pump is collected, into clean state after acquisition water is met the requirements；
Next sampling point sampling is carried out according to control instruction at this time or is maked a return voyage.
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| CN201610127943.XA CN105571904B (en) | 2016-03-07 | 2016-03-07 | The automatic sampler of water quality sampling unmanned plane |
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| CN201610127943.XA CN105571904B (en) | 2016-03-07 | 2016-03-07 | The automatic sampler of water quality sampling unmanned plane |
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